EP3353013A1

EP3353013A1 - Projection of a pre-definable light pattern

Info

Publication number: EP3353013A1
Application number: EP16770285.1A
Authority: EP
Inventors: Jose Roberto VARGAS RIVERO; Carsten Gut; Johannes Reim
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2015-09-25
Filing date: 2016-09-23
Publication date: 2018-08-01
Anticipated expiration: 2036-09-23
Also published as: US10293745B2; CN108025672B; EP3353013B1; US20190016256A1; CN108025672A; DE102015012416A1; WO2017050986A1

Abstract

The aim of the invention is to improve light patterns used to inform or assist an observer or a driver. To this end, the invention relates to an illuminating device and to a method for projecting a pre-definable light pattern by means of the illuminating device of a vehicle into an area surrounding the vehicle. According to the invention, a projection surface is determined in the area surrounding the vehicle, a position of a pre-defined observer (BO) is determined or provided, and a light unit (SW) of the illuminating device is controlled pixel-wise according to the determined projection surface (PE) and the determined position of the pre-defined observer (BO), in order to produce the pre-definable light pattern.

Description

Projecting a predefinable light pattern

DESCRIPTION: The present invention relates to a method for projecting a predeterminable light pattern by means of a lighting device of a vehicle into an environment of the vehicle. Moreover, the present invention relates to a lighting device for a vehicle with a lighting unit and a control device for controlling the lighting unit. Furthermore, the present invention relates to a motor vehicle with such a lighting device.

So far, vehicles and in particular motor vehicles with low beam are known, which usually has a nearly static light distribution. Furthermore, the dipped beam is usually formed by a single light source, but pixel spotlights are also known. The setting of the low beam depends on the driver or on-vehicle information. There is hardly any interaction with the environment. A disadvantage of the known control of the low beam is that the potential of the low beam, for example, is not used to communicate with the environment or to support the driver by selectively adjusting the light distribution in his vision and perception task increasingly.

Document EP 1 916 153 A2 discloses a method for displaying information, in which a projection object is produced at a projection location outside a motor vehicle by means of projection means provided on the motor vehicle. By means of a generated projection object, an anticipated future location of the motor vehicle is marked areally.

In addition, document DE 10 2006 050 548 A1 discloses a method for warning other road users. By means of a projection by means of a projection object is generated as a warning for another road user at a projection point outside the motor vehicle. An angle of view of a particular viewer is taken into account in order to produce an undistorted image.

The object of the present invention is thus to provide a method with which a lighting device of a vehicle can be controlled more flexibly with regard to the surroundings of the vehicle. According to the invention, this object is achieved by a method according to claim 1.

In addition, the invention provides a lighting device according to claim 7.

In an advantageous manner, therefore, a specifiable light pattern is projected into the surroundings of the vehicle. This light pattern can serve purely for the presentation of information or specifically illuminate parts of the environment for better perception by a viewer, in particular the driver. When projecting, the perspective of a predetermined observer is explicitly taken into account. For this purpose, the projection surface (e.g., projection plane) in the vicinity of the vehicle on which the light pattern is projected is determined. In addition, for the perspective, a position of the predetermined or potential observer is determined, for example, by means of sensor technology or provided, for example, by means of already stored data. Depending on the determined projection area and the determined or provided position of the predetermined observer, which together represent the observation perspective, a pixel-by-pixel control of a lighting unit (eg of a pixel spotlight) of the lighting unit takes place in order to supply the predeterminable light pattern on the projection surface produce. Thus, in the generation of the light pattern, the concrete perspective or representative of the projection surface or plane and the position of the observer are taken into account. As a result, information for the observer can be read more easily or illumination can be made more individual.

For example, the predetermined observer is a driver or passenger of the vehicle or a pedestrian at a predetermined position outside the vehicle or a person in one passing vehicle. For all these observers, for whom the light pattern can be determined, the head position, which is indeed relevant to the actual perspective, can be obtained accurately and simply from sensor data of the vehicle interior or the vehicle environment.

When determining the projection surface, a change in position of the vehicle or of an object in the surroundings of the vehicle can be taken into account. This allows the process to be dynamically updated. In this case, for example, a trajectory of the vehicle or of the object can be used.

Furthermore, when determining the projection surface, a topography in front of the vehicle can be analyzed. For example, the environment in front of the vehicle is sensory-recorded, and from the data, a suitable projection plane or surface is extracted.

In a further embodiment, a property of the environment can be taken into account for the pixel-by-pixel control of the lighting unit of the lighting device. Such a property may be, for example, the nature of a projection surface, such as reflectance or granularity of the surface. In addition, a property of the environment may be an actual traffic density, the nature of a road, a point-of-interest, the humidity of the traffic lane, or the ambient brightness. Such a property allows the projection of the light pattern to be further individualized, thus providing even more benefits to the observer.

Advantageously, in the pixel-by-pixel control of the lighting unit of the lighting device, a preceding or oncoming vehicle, current vehicle data, information of or about the driver, a distance of the light pattern from the vehicle or the like is taken into account. These parameters also allow the light pattern to be advantageously influenced. In a specific embodiment, the lighting device can have a plurality of headlights as the lighting unit, and in the pixel-by-pixel control of the lighting device, the headlights can be controlled such that the predeterminable light pattern results on the projection surface. This can therefore be several headlights for the generation of Light pattern, which can improve the variability or the resolution of the light pattern.

The lighting device according to the invention can be further developed functionally by the method features described above. In addition, a vehicle may be equipped with this lighting device.

The present invention will now be explained in more detail with reference to the accompanying drawings, in which:

Fig. 1 is a Lochkameramodell;

FIG. 2 shows the geometry for the calculation of the coordinates in a side view and in a plan view; FIG.

3 views for determining a perspective;

4 shows a diagram for method selection; 5 shows a projection in side view;

FIG. 6 shows the projection of FIG. 5 in a front view; FIG.

Fig. 7 individual projection steps;

8 shows a carpet of light for a vehicle;

9 shows the respective carpet of light from the perspective of the headlights;

10 shows a light distribution with two headlights; and

Fig. 1 1 is a diagram for calculating the pixel intensity.

The embodiments described in more detail below represent preferred embodiments of the present invention. It should be noted that the individual features can be realized not only in the described combination, but also in isolation or in other technically meaningful combinations. The invention is based on the approach that a dipped beam should be high resolution and can be realized for example by a pixel headlight. This makes it possible, for example, to provide perspectives which are adapted to the environment. In addition, interactions with the environment can occur. Furthermore, the road topology and the distance to other vehicles can be taken into account in order to achieve a situation-dependent control of the lighting device, in particular of a vehicle. The central idea here is that the concrete perspective is determined by taking into account the position of the observer but also the current concrete projection plane or area in the surroundings of the vehicle for the pixel-by-pixel control of the lighting unit of a lighting device.

For a specific representation of a high-resolution light distribution in the dipped beam, a plurality of parameters can be determined and provided in the form of a respective sensor signal. Such eligible parameters are enumerated below without presenting a conclusive list: a) A first parameter for the control of the lighting unit of the lighting device may be a change in position of the own vehicle or ego vehicle. This parameter is important so that the desired light distribution is always projected at the same horizontal and vertical distance. For example, a pitch, roll, and roll motion can be detected via acceleration sensors. For this parameter, the eye / head position X _f, Y _f, Z _f ... may be updated as well as the viewing direction are determined in accordance with a vector r. In addition, it is possible to determine the coordinates X _s i, Y _s i, Z _s i ... as well as the sight line vector Si ... for each headlamp. b) A second parameter would be the position change of objects such as the lane markings. The importance of this parameter lies in the fact that the objects are references to which a light distribution can orient. The topography T _s can be determined from this parameter. c) A third parameter would be the topography in front of the vehicle in the first place. This includes the detection of other projection surfaces except the road, such. B. a garage wall. The vertical and horizontal size v, h of the light distribution can be determined from this. The exact knowledge about the geometry of the projection surface is necessary for the calculation of a correct, rectified light image. The topography T _s can also be determined from this parameter. d) An important parameter is also the condition of the projection surface. This includes the reflectance and the reflection properties as well as the granularity of the surface. Due to the reflection properties, the required light intensity and the image quality can be determined. The visibility S _s , the reflectivity R _s and the luminance L _{s of} the projection surface can be determined from this parameter. e) According to another parameter, it may be determined whether the light function should be seen from the perspective of a vehicle driver, the passenger, a passer or a person in another vehicle. Accordingly, the equalization must be calculated. The line of sight vector r of one or more observers can be co-determined from this. f) In this parameter, the head position of the driver

(own vehicle or other vehicle) or the position of the passers, but also possibly their trajectory are deposited. The perspective distortion mentioned under the parameter e) can hereby be calculated more exactly. The parameter h _p (observer head height), Q (viewing direction in respect to the road), α (lateral viewing direction), b (distance between the observer head and the image plane) can be calculated according to the items e) and f). From the eye and head position of one or more observers: X _f , Y _f , Z _f . In addition, the line of sight vector r can be co-determined by one or more observers. The speed v _f of one or more observers can be determined from this. g) Another parameter can specify the current traffic density. From this parameter results, which projection distance is to be selected. At high traffic density the projection distance is shortened and at low traffic density (eg on country road) the projection distance can be increased. The vertical and horizontal

Size v, h of the light distribution can be determined from this. The visibility S _{s of} a light function can also be determined from this parameter. Likewise, a decision as to which function F should be displayed can be derived therefrom. (h) another parameter concerns the type of road and, where appropriate, 'points-of-interest' (urban environment, motorway, highway, construction site, accident, etc.) Depending on this parameter, activation of the desired lighting function may take place. Likewise can a decision as to which function F is to be displayed, derive therefrom. i) a further parameter can relate to the humidity of the lane. depending on an activation of the desired light function or a consideration in the illumination can be effected. the visibility S _s The light function, the reflectivity R _s and the luminance L _{s of} the projection surface can be co-determined from this parameter Furthermore, a decision as to which function F is to be displayed can be derived from this j) The ambient brightness (illumination of a vehicle, street lamps, twilight , Daylight) represent another parameter. With him can an adjustment of the light intensity and an activation of a desired light function done. The luminance of the ambient brightness L _f can be determined therefrom. k) A parameter may be the distance and / or the coordinates to a preceding or oncoming vehicle and the vehicle topology. With this parameter, an exact display of a vehicle can take place. In addition, however, even if the vehicle topology is known, information or symbols can also be projected onto a foreign vehicle. The vertical and horizontal size v, h of the light distribution can be determined from this. For example, the size of the logo projection on a Vehicle to be made dependent on it. The topography T _s can also be determined from this parameter.

I) Another parameter may be the user request or a user request. This / this can be on the operation of a button, eye tracking, driving behavior, voice recognition, well-being and the like recognize. Thus, the activation or adaptation of a desired light function / light distribution can take place. Likewise, a decision as to which function F should be displayed can be derived therefrom. m) Also vehicle data such as GPS and speed can be an important parameter. This is an activation or adaptation of a desired light function / light distribution possible. The speed of the vehicle occupant v _v can be co-determined from this. In addition, a decision as to which function F should be displayed can be derived therefrom. n) Another parameter is the interior lighting. It can also be used to activate or adapt a desired light function / light distribution. For example, with activated interior light, the apron of the low beam can be made lighter. The luminance of the interior lighting L _f can be determined from this parameter. o) The distance of a desired projection to the ego vehicle is conceivable as another parameter. It can be used to calculate the overlap of the left and right headlamps to correctly display the light distribution. The topography T _s can also be determined from this parameter. p) As a further parameter can serve a decision input, which represents the decision of the driver, who should be an observer of the light function. This input can be done, for example, by pressing a button, an MMI (Human Machine Interface) or an APP. This can be decided by the driver himself, whether z. B. a logo projection from his point of view should be equalized perspective or from the perspective of a passer. This decision is the Superordinate function mapping (see below). The decision parameter E can be determined from this.

Different lighting functions can be defined. These lighting functions are each assigned a corresponding viewing perspective. This assignment results in a so-called "function mapping." For example, the "construction site light" function is assigned the driver's perspective, since the lighting of a construction site is primarily of importance to the driver. The projection of a logo may, for example, be assigned to a driver's perspective in a default setting, if necessary this assignment can be changed by the MMI / APP, so that, for example, also a passerby sees the logo well.

The above table shows that the perspectives that arise for projecting a light pattern from a vehicle can be classified, for example, into four areas or categories. This results in perspectives or functions for a driver, a passenger, a foreign vehicle or a pedestrian. The respective function then ensures that the projection is not distorted from the corresponding perspective. In some situations, however, it may happen that the function can not be displayed for the desired perspective. Then it has to be decided whether the lighting function is provided or not.

In the following, an exemplary algorithm for calculating the desired light distribution as a basis for the control of the lighting unit of the lighting device will be described. The method is based on the hole camera model with homogeneous coordinates, as shown in Fig. 1. Starting point, for example, a camera center O _c , which corresponds in the present case, the optical center, for example, a headlamp. With it, a 3D point cloud is to be generated, each point of which is represented, for example, by a value x _w . Such a point is located in the real world in a coordinate system O _w . It For example, a 2D plane can be defined by which each projection beam passes from the headlight center O _c to the 3D point x _w and defines a point m there. This pinhole camera model can be used to convert a particular image on the road into a two-dimensional image relative to the headlight plane.

The two-dimensional coordinates can be calculated using the following equations, where u and v belong to the image plane coordinates and k to the intrinsic camera parameters. Π corresponds to the extrinsic camera parameter. The street scene is represented by a point cloud, the values being stored in X, Y and Z. R and t correspond to a rotation between the camera and the world frame coordinates.

Kf y

K 0 Kf (4) 0 0

The image plane coordinates are given (converted to angles) as follows

The angle values can be converted into pixel positions for any headlight technology and stored in a corresponding image or video format. The method also uses a trigometrische approach for calculating the two-dimensional coordinates X _p, Z _p, wherein each pixel Χ ,, Z, is projected for a particular observer head position and direction of view on the road. It is assumed that the image plane is perpendicular to the viewing direction of the observer. In the present document, the coordinate X, for example, of the driving tool longitudinal direction or direction of travel, the coordinate Z of the roadway transverse direction and the coordinate Y associated with the height direction of the vehicle. Fig. 2 now shows the geometry for calculating the two-dimensional coordinates X _p and Z _p on a projection plane, z. B. a street. The upper illustration in FIG. 2 shows the side view and the lower illustration the top view. h _p corresponds to the observer head height, β the viewing direction with respect to the road, α the lateral viewing direction, b the distance between the observer's head and the image plane and h _b represents the lower part of the image and the road. An error of approximately 2.5% for angles (a or ß) up to 14 ° is to be expected. This error is calculated from the distance between the pixels of the original image and those calculated from the driver's perspective using this method.

The two-dimensional coordinates X _p and Z _p on the projection plane are given by the following equations:

In connection with FIG. 3, it is now briefly explained how information is obtained from the above-mentioned parameters or different sensor data in order to determine the necessary physical or geometric values. Unless otherwise indicated, all values refer to a global reference point on the road. Thus, ε represents the angle between the observer (s) BO from the center of the road surface or projection plane PE, whereupon the image Bl is projected. The coordinates of each corner of the portion of the road surface, ie the projection plane PE on which the image Bl is projected, are:, Zi ... X _n , Z _n . In the example of FIG. 3, an additional object OB is located on the projection plane. In top view, the topography T _s then results according to the uppermost illustration in FIG. 3. The vehicle is illuminated by the two headlights View or beam direction vectors Si and S ₂ symbolizes. It moves at the speed v _s . The topography T _s for the surroundings in front of the vehicle is obtained with regard to the projection beam in the side view according to the middle image of FIG. 3. Finally, the lower image of FIG. 3 shows the reflection beam which the observer BO perceives. This leads, together with all other reflection beams in an image plane, to an image Bl. The projection beam and the reflection beam result in the corresponding perspective of the observer BO. For the control of the lighting device, the observer BO can influence a decision parameter E.

Now that all input parameters have been determined or provided, a corresponding geometric calculation can be carried out with which the respectively required pixels in a two-dimensional headlight plane must be activated in order to generate a specific image for a specific observer. The intensity is not yet included in this calculation, but will be determined independently in a later step.

4 shows a workflow for the geometric calculation at a specific time t. In a first step S1, input parameters such as the function F (eg construction site light, logo representation etc.), the topography T _s or the decision parameter E (eg driver or passerby as observer) are provided. In a subsequent step S2, it is automatically or manually decided whether projecting is desired. For ex- ample, it is undesirable if the topography does not fit or if a car is driving ahead. In the subsequent step S3, when the projection is desirable physical parameters such as v _f, L _f, S _s, R _s, U, V _s or the like are calculated. In the subsequent step S4, it is decided whether the projecting is still possible. For example, projecting is not possible if the speed is too high with the projection plane constantly changing. If projecting is possible, a query is made in step S5 as to whether projecting is still desired. If not, then step S1 is returned. If projecting is still desired, in step S6, observer parameters and projection surface parameters are extracted from the input parameters of step S1. These include the head position and the viewing direction on the one hand and the luminance on the other. It is then checked whether the projection plane is the same as the image plane. If not, the following procedure 1 is performed. If, on the other hand, the projection plane is the same as the image plane and the observer For example, looking perpendicular to the road onto which the image or light pattern is projected, method 2 is applied. The method 2 is based on the hole camera model and is much simpler than the method 1. The method 1 is divided into the following steps:

1 . Step: The image is binarized and those points that should be illuminated are extracted and stored as coordinates Χ, Z, (image plane). Step 2: Based on the values of X _f, Y _f, Z _f, r, ε, Xi, Zi ... X _n, Z _n, h, v and the equations (7) and (8), each point in Χ ,, Z, scaled (ie adapted to the projection plane) and projected onto the surface defined by the points Xi, Zi ... X _n , Z _n and adapted to the topology T _s . If Χ ,, Z, forms a binary matrix, is the adaptation to a particular topography as the Hadamard product between the matrix at Χ ,, Z, and the topography matrix T _s is defined (here only as binary matrix considered). If both matrices are not the same size, interpolation techniques can be used.

3rd step: The surface defined by the points Xi, Zi ... X _n , Z _n is split into subfaces. For example, each headlamp, which together form the lighting unit of a lighting device, illuminate a sub-area.

4th step: Based on the values of X _s i, Y _s i, Z _s i,..., Si... And the equations (1) to (6) and the separation in step S3, a 2D Projection calculated for each headlight.

Step 5: Based on the headlight technology and geometry, each 2D projection (ie, the flat dot distribution) is converted into a specific image format specific to the headlight (the pixel intensity is based on the pixel intensity calculation).

Step 6: Based on v _s and v _f , each image can be converted into a video sequence.

Based on the circumstances, there are various optimization options to reduce latency, such as: B. Integrating the second through fourth steps into a single matrix operation. It is also possible compare the original image and the image generated by this method to obtain a quality criterion.

FIGS. 5 to 7 show an example in which the Audi logo for the driver's perspective is projected onto the road. For this purpose, Fig. 5 shows the geometry in the side view. A headlight SW projects a light pattern onto a projection plane PE, resulting in an image Bl for the observer BO in an image plane. The resulting perspective here corresponds, for example, to a driver's perspective. In the front view, in which the transverse coordinate Z is applied horizontally and the vertical coordinate Y vertically, the constellation of FIG. 6 results. The left-hand headlamp SWL, together with the right-hand headlamp SWR, should display the undistorted Audi logo for the driver or observer BO Projecting between two headlamps project. For this purpose, an original or desired light pattern is given in accordance with the illustration on the top left in FIG. In this desired form, the projection plane and the position of the observer or driver are already taken into account. Since, however, two headlights in different positions should generate the light pattern, corresponding images or drive signals corresponding to the illustrations on the right side of FIG. 7 for the left headlight SWL and the right headlight SWR must be determined. Together, for the observer BO, the reconstructed image from FIG. 7 then appears from the bottom on the left. The second method indicated in FIG. 4 includes the following steps:

1 . Step: As in Procedure 1

Step 2: Based on the values of Xi, Zi ... X _n, Z _n, h, v, each point Xi, Z, scaled in the image plane and passing through the points Xi, Zi ... X _n, Z _n defined surface and adapted to the topography T _s .

Steps 3 to 6: As in Method 1 As for Method 1, there are also different optimization possibilities for Method 2 in order to reduce latency. For example, integration of steps 2 to 4 can be done in a single matrix operation. Figures 8 and 9 show a possible light distribution for the two headlights. 8 shows on the left a vehicle FZ which is to produce a rectangular carpet of light on a roadway of a road. The left-hand headlamp should produce a left-hand carpet LTL and the right-hand headlamp a right-hand carpet LTR. The image in FIG. 8 right shows, in a mirrored view, the beam paths for the corners of the illuminated carpets LTL and LTR with respect to the two headlights SWL and SWR.

FIG. 9 shows the 2D image of each of the headlights SWL and SWR on the respective headlight level. This means that in each of the headlights, those pixels must be lit that are in the respectively marked area. Together with the headlight geometry and optics as well as the selected projection plane, the carpet of light then results with the two parts LTL and LTR.

The following explains how to calculate the pixel intensity. Based on the values L _f , S _s , R _s , L _s , T _s and the parameters of observer and projection plane or road surface, the requirements of the Highway Code, the geometry of the headlights and their technology, the number of headlights and the 2D projections calculated by methods 1 and 2 can calculate the intensity per pixel needed to produce a desired light distribution on the road. In the following, the overlapping areas for two or more headlamps are to be determined by way of example. The desired light distribution x can be calculated from the sum of all overlapping images y ^k multiplied by the factor A ^k for all overlapping headlights K according to the formula:

Fig. 10 shows above the desired light distribution in total. This consists of the light distribution of the left headlamp SWL added to the light distribution of the right headlamp SWR together.

The overlap of multiple headlamp images can increase the intensity, but it can also improve the resolution. Fig. 1 1 shows a workflow diagram for calculating the pixel intensity. In step S10, all physical and geometric input parameters are provided for the intensity calculation. In the subsequent step S1 1 it is checked whether overlapping areas are present. If not, a jump is made to step S12. However, if there are overlapping areas, a jump is made to step S13 where preprocessing of the data is made for, for example, increased resolution or special effects. Subsequently, it also jumps to step S12. In step S12 it is checked whether the speeds of interest are small and the affected topography T _{s is} very complex. If this AND condition is satisfied, a time-consuming calculation can be performed in step S13. In this case, for example, a 3D image processing with so-called "render" or "inverse rateracing" done. Subsequently, an image sequence per headlight is generated in step S14.

However, if the AND condition of step S12 is not satisfied and, for example, one of the speeds is large, a predetermined criterion, e.g. B. checks the homogeneity or a desired intensity profile. Subsequently, the intensity per pixel is determined in step S16. Then, in step S17, one of the methods 1 or 2 for calculating the projection geometry and the pixel positions is performed. This is followed by a jump to step S14.

Advantageously, light functions, as can be formed according to the described schemes, offer the possibility of actually improving or worsening the visibility of objects in the environment compared to other driver assistance systems, such as head-up displays. In addition, light assist functions in future piloted driving can help to communicate and interact with the environment. By adapting the low beam to the above parameters, the driver can be supported in his vision and perception task. In a specific technical implementation, a specialized GPU (Graphic Processor Unit) with a headlight, a control unit (on which the above method is implemented) and a sensor system for the required sensor data may be connected. It can be implemented in an architecture and programming language that is optimized for normal latency. When the headlight, it is advantageous if it is a high-resolution headlight, z. B. based on DMD (Digital Micro Device) or scanner with at least 100 pixels. When developing future lighting functions, these should be selected in such a way that they unconsciously support the driver without distracting him. Light functions in the dipped beam are not visible on wet roads, too bright external lighting or a vehicle driving in front of the vehicle and must therefore be used in a situational manner.

Claims

CLAIMS:

1 . A method for projecting a predeterminable light pattern by means of a lighting device of a vehicle (FZ) in an environment of the vehicle

Determining a projection surface (PE) in the vicinity of the vehicle (PZ),

Determining or providing a position of a predetermined observer (BO),

pixel-by-pixel control of a lighting unit (SW) of the lighting device in dependence on the determined projection area (PE) and the determined position of the predetermined observer (BO) for generating the predefinable light pattern,

characterized in that

- In the determination of the projection surface (PE) a change in position of the vehicle (FZ) or an object (OB) is taken into account in the environment of the vehicle, or

- When determining or providing a position of a predetermined observer (BO) whose trajectory is taken into account.

2. The method of claim 1, wherein the predetermined observer (BO) is a driver or passenger of the vehicle or a passer at a predetermined position outside the vehicle (FZ) or a person in a passing vehicle.

3. The method according to any one of the preceding claims, wherein in the determination of the projection surface (PE) a topography (T _s ) is analyzed in front of the vehicle.

4. The method according to any one of the preceding claims, wherein in the pixel-by-pixel control of the lighting unit (SW) of the lighting device, a property of the environment is taken into account.

5. The method according to any one of the preceding claims, wherein in the pixel-by-pixel control of the lighting unit (SW) of the lighting device, a preceding or oncoming vehicle, current vehicle data, information of or about the driver or a distance of the light pattern from the vehicle (FZ) is taken into account , Method according to one of the preceding claims, wherein the lighting device as a lighting unit (SW) has a plurality of headlights, and in the pixel-wise controlling the lighting device, the headlights are controlled so that the predetermined light pattern results on the projection surface.

Lighting device for a vehicle (FZ) with

- a lighting unit (SW),

- A computing device for determining a projection surface (PE) in the vicinity of the vehicle (FZ) and for determining or providing a position of a predetermined observer (BO) and

a control device for pixel-wise controlling the lighting unit (SW) as a function of the determined projection surface (PE) and the determined position of the predetermined observer (BO) for generating the predeterminable light pattern,

characterized in that

the computing device is designed to

o to take into account a change in position of the vehicle (FZ) or of an object (OB) in the surroundings of the vehicle when determining the projection surface (PE), or o in determining or providing a position of a predetermined observer (BO) whose head position and / or Trajectory to consider.

Vehicle with a lighting device according to claim 7.